CN102971542A - Power regeneration device for work machine - Google Patents
Power regeneration device for work machine Download PDFInfo
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- CN102971542A CN102971542A CN2012800018362A CN201280001836A CN102971542A CN 102971542 A CN102971542 A CN 102971542A CN 2012800018362 A CN2012800018362 A CN 2012800018362A CN 201280001836 A CN201280001836 A CN 201280001836A CN 102971542 A CN102971542 A CN 102971542A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1807—Rotary generators
- H02K7/1853—Rotary generators driven by intermittent forces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/353—Flow control by regulating means in return line, i.e. meter-out control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6654—Flow rate control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/76—Control of force or torque of the output member
- F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Provided are: a regeneration circuit (53) connected to an oil passage (51) through which returning oil of a boom cylinder (3A) flows during a boom-lowering operation, the regeneration circuit having a hydraulic motor (24) to which a generator (25) is connected; a flow rate adjustment circuit (54) connected to the oil passage (51) and having a control valve (5A); an inverter (26) for controlling the flow rate of the regeneration circuit (53) on the basis of a first set flow rate (Q2) established with each operated amount of an operation device (4A); and the control valve (5A) and a proportional valve (27) for controlling the flow rate of the flow rate adjustment circuit (54) on the basis of a second set flow rate (Q1) established with each operated amount of the operation device (4A). A satisfactory feel of operation can thereby be maintained for the operator.
Description
Technical field
The present invention relates to the energy regenerating device of the Work machines such as engineering machinery.
Background technique
In recent years, for the hydraulic working machine headed by the hydraulic shovel, the requirement relevant with improving specific fuel consumption (fuel efficiency) grows to even greater heights.
For example, in TOHKEMY 2003-329012 communique, disclose following hydraulic shovel: at the oil circuit (returning oil circuit) that returns the oil circulation that be connected with the cylinder bottom side hydraulic chamber of swing arm oil hydraulic cylinder (oil hydraulic cylinder), when descending for swing arm switching valve is set, will has oil hydraulic motor and the regenerative circuit of the generator that links with oil hydraulic motor is connected to the downstream side of this switching valve.In this hydraulic shovel, can switch according to selected work pattern on the monitoring panel switching position of this switching valve, and the connected state that can optionally switch this regenerative circuit and cylinder bottom side hydraulic chamber according to work pattern (for example, cylinder bottom side hydraulic chamber and regenerative circuit are connected in digging operation, and cylinder bottom side hydraulic chamber and regenerative circuit are cut off in the micromanipulator operation).Therefore, for example, selected when swing arm descends in the situation of the work pattern that cylinder bottom side hydraulic chamber is communicated with regenerative circuit, when swing arm was descended, oil drove this oil hydraulic motor and this generator produces regenerative current by returning of discharging from cylinder bottom side hydraulic chamber.But, in this hydraulic shovel, just not can not regenerate because the operator does not carry out the switching of work pattern, so, exist but can't regenerate in the time should regenerating because the change operation of work pattern is complicated may.
As the hydraulic shovel in view of this aspect, there is following excavator: have: branching portion, it will return oil circuit and be split into oil circuit more than two; Regenerative circuit, it will be directed to fuel tank via the oil hydraulic motor that is connected with generator in the part of the hydraulic oil of this branching portion punishment stream; Flow is adjusted the loop, and it is via being directed to fuel tank (TOHKEMY 2007-107616 communique) at the remainder of the hydraulic oil of this branching portion punishment stream according to the operation amount change of the operating stem throttle orifice (flow rate adjusting mechanism) by flow.Namely, in this hydraulic shovel, the operation amount of the operating stem when descending according to swing arm is controlled the flow that returns oil that flows out to this regenerative circuit and this flow adjustment loop, thus, seeks to realize simultaneously regeneration amount and operability in the situation that can not cause the operability cataclysm.
The prior art document
Patent documentation
Patent documentation 1: TOHKEMY 2003-329012 communique
Patent documentation 2: TOHKEMY 2007-107616 communique
Summary of the invention
But, in patent documentation 2, although the operation amount of the operating stem when having put down in writing according to the swing arm step-down operation changes the content of the amount of returning oil that flows out to regenerative circuit, but the bar operation amount about with respect to the swing arm step-down operation time come the cylinder bottom side hydraulic chamber of slave arm oil hydraulic cylinder flow out which kind of degree amount return oily this point, but with no specific disclosure of.Namely, when the reality use has the hydraulic shovel of regenerative circuit as described above, if the outlet throttling flow when swing arm not being descended (below, be called sometimes swing arm decline outlet throttling flow) set for identically with common hydraulic shovel (namely do not have regenerative circuit, power source and only be the hydraulic shovel of motor) with respect to bar operation the relationship between quantities, then cause following result: the operation the when operator descends to swing arm feels inadaptable.
The object of the present invention is to provide a kind of power regenerating device of Work machine, with from hydraulic actuator return oil the regeneration that has or not irrespectively can keep well operator's operation sense.
(1) in order to reach above-mentioned purpose, the present invention is the power regenerating device of Work machine, has: the operation equipment of output and the corresponding operation signal of operation amount; The oil hydraulic cylinder that stretches according to the operation signal from the output of this operation equipment; Oil hydraulic pump that launched machine drives, supply with hydraulic oil to described oil hydraulic cylinder, and have: regenerative circuit, it is connected with the cylinder bottom side hydraulic chamber of described oil hydraulic cylinder, and is directed to fuel tank via being used for becoming the regeneration sector of electric energy that this is returned oil from the transformation of energy of returning oil of this hydraulic chamber; Flow is adjusted the loop, and it is connected with described hydraulic chamber, and will be directed to fuel tank via flow rate adjusting mechanism from the oil that returns of this hydraulic chamber; Feeler mechanism, it is for detection of the operation amount of described operation equipment; The first flow control mechanism, it is according to first flow setting flow and by described feeler mechanism detected operation amount controlled described regenerative circuit definite according to the operation amount of described operation equipment; With the second flow control mechanism, it is according to second flow setting flow and by described feeler mechanism detected operation amount controlled described flow adjustment loop definite according to the operation amount of described operation equipment.
(2) in above-mentioned (1), preferably, the described first aggregate value of setting flow and described the second setting flow increases along with the increase of the operation amount of described operation equipment.
(3) in above-mentioned (2), preferably, described first sets flow is configured to, remain zero at the operation amount of described operation equipment during less than the first setting value, the operation amount of described operation equipment be described the first setting value when above increase along with the operation amount of described operation equipment increase, described second sets flow is configured to, the operation amount of described operation equipment during less than the first setting value along with the increase of the operation amount of described operation equipment and increase, being that the increase along with the operation amount of described operation equipment reduces more than described the first setting value and in less than the situation of the second setting value at the operation amount of described operation equipment, is that described the second setting value remains zero when above at the operation amount of described operation equipment.
(4) in above-mentioned (3), preferably, also has the setting value change mechanism that at least one party in described the first setting value and described the second setting value is changed to other values.
(5) in above-mentioned (3), preferably, in described storing mechanism, also has the setting value switching mechanism that at least one party in described the first setting value and described the second setting value is switched to other values.
The invention effect
According to the present invention, and return oil and have or not regeneration irrespectively can keep well operator's operation sense.
Description of drawings
Fig. 1 is the External view of the hybrid power type hydraulic shovel of embodiments of the present invention.
Fig. 2 is the skeleton diagram of driving control system of the hydraulic shovel of embodiments of the present invention.
Fig. 3 is the pie graph of the car body controller 11 of embodiments of the present invention.
Fig. 4 is the statistics line chart of storing in the memory section 105 of embodiments of the present invention.
Fig. 5 is the statistics line chart when in embodiments of the present invention the first setting value L1 and the second setting value L2 being changed to new setting value L1 ', L2 '.
Embodiment
Below, with accompanying drawing embodiments of the present invention are described.Fig. 1 is the External view of the hybrid power type hydraulic shovel of embodiments of the present invention.Hydraulic shovel shown in this figure has: the apparatus for work 1A of joint type, and it has swing arm 1a, dipper 1b and scraper bowl 1c; Vehicle body 1B, it has upper rotating body 1d and lower traveling body 1e.Swing arm 1a is supported on the upper rotating body 1d in the mode that can rotate, and passive arm oil hydraulic cylinder (oil hydraulic cylinder) 3a drives.
Dipper 1b is supported on the swing arm 1a in the mode that can rotate, and is driven by dipper oil hydraulic cylinder (oil hydraulic cylinder) 3b.Scraper bowl 1c is supported on the dipper 1b in the mode that can rotate, and is driven by scraper bowl oil hydraulic cylinder (oil hydraulic cylinder) 3c.Upper rotating body 1d is rotated motor (motor) 16 (with reference to Fig. 2) rotary actuation, and driving motors (oil hydraulic motor) 3e, 3f (with reference to Fig. 2) about lower traveling body 1e quilt drive.The driving of swing arm oil hydraulic cylinder 3a, dipper oil hydraulic cylinder 3b, scraper bowl oil hydraulic cylinder 3c and revolution motor 16 is by operation equipment 4A, 4B (with reference to Fig. 2) control that is used for the output hydraulic pressure signal in the operator cabin that is arranged on upper rotating body 1d (cab).
Fig. 2 is the skeleton diagram of driving control system of the hydraulic shovel of embodiments of the present invention.In addition, also description thereof is omitted (for figure below too) to the identical reference character of the part mark identical with upper figure.Driving control system shown in this figure has: power regenerating device 70; Operation equipment 4A, 4B; Control valve (slide valve type direction switch valve) 5A, 5B, 5C; Hydraulic pressure signal is converted to the pressure transducer 17,18 of electrical signal; Inverter 13; Chopper 14; Battery 15; Inverter 12 as control gear, has car body controller (MCU) 11, battery controller (BCU) 22 and engine controller (ECU) 21.
In Fig. 2, power regenerating device 70 has: oil circuit 51, branching portion 52, regenerative circuit 53, flow are adjusted loop 54, pressure transducer 20, car body controller (MCU) 11 and inverter 26.
Oil circuit 51 is connected with the cylinder bottom side hydraulic chamber 55 of swing arm oil hydraulic cylinder 3a for return oil circuit for what the oil (returning oil) that will return fuel tank 9 circulated when swing arm oil hydraulic cylinder 3a shortens.Be provided with the branching portion 52 that this oil circuit 51 is split into a plurality of oil circuits at oil circuit 51.Be connected with regenerative circuit 53 and flow adjustment loop 54 at branching portion 52.
Regenerative circuit 53 has: one-way valve 28; With the downstream side that is connected this one-way valve 28 and the oil hydraulic motor 24 that is connected with generator 25, will be directed to fuel tank 9 from the oil that returns of cylinder bottom side hydraulic chamber 55 via this oil hydraulic motor 24.Returning that oil imports in the regenerative circuit 53 and when making oil hydraulic motor 24 rotation, can make generator 25 rotations and produce regenerated electric power when swing arm is descended.
When carrying out the swing arm step-down operation by the operator, the operation signal (hydraulic pressure signal) of exporting from operation equipment 4A is directed to the one-way valve 28.One-way valve 28 is configured to: the operation signal (hydraulic pressure signal of pressure P 1 (with reference to Fig. 4)) of exporting when reaching the first setting value L1 (aftermentioned) according to the operation amount of the operation equipment 4A when the swing arm step-down operation is opened, thus, when the operation amount of operation equipment 4A be that the first setting value L1 supplies with to oil hydraulic motor 24 when above and returns oil.
In addition, the rotating speed of the oil hydraulic motor 24 during the swing arm step-down operation and generator 25 is by inverter 26 controls.When controlling the rotating speed of oil hydraulic motor 24 by inverter 26 like this, can adjust the flow by the oil of oil hydraulic motor 24, therefore, can adjust the flow that returns oil that flows to regenerative circuit 53 from cylinder bottom side hydraulic chamber 55.That is, the inverter in the present embodiment 26 is brought into play function as the flow control mechanism that the flow of regenerative circuit 53 is controlled.
Flow is adjusted loop 54 will be directed to fuel tank 9 from the oil that returns of cylinder bottom side hydraulic chamber 55 via control valve (slide valve type direction switch valve) 5A as flow rate adjusting mechanism.The compression zone of a side among the control valve 5A (compression zone on the right side among Fig. 2) is transfused to the operation signal (hydraulic pressure signal) of exporting via Proportional valve 27 from operation equipment 4A when the swing arm step-down operation, in addition, the opposing party's compression zone (compression zone in the left side among Fig. 2) is transfused to when the swing arm lifting operates from the operation signal (hydraulic pressure signal) of operation equipment 4A output.The guiding valve of control valve 5A moves according to the operation signal that is input in these two compression zones, and switches direction and the flow of the hydraulic oil of supplying with from oil hydraulic pump 6 to swing arm oil hydraulic cylinder 3a.
The corresponding operation signal of operation amount of operation equipment 4A when Proportional valve 27 will be with the swing arm step-down operation outputs to the compression zone of control valve 5A, thus the flow that returns oil (that is, adjusting the flow that returns oil that flows in the loop 54 at flow) that flows through control valve 5A from cylinder bottom side hydraulic chamber 55 is adjusted.That is, the Proportional valve in the present embodiment 27 is brought into play function as the flow control mechanism that the flow in flow adjustment loop 54 is controlled.
Because pressure transducer 20 is for detection of outputing to the pressure (first pilot) of the hydraulic pressure signal of control valve 5A from operation equipment 4A when the swing arm step-down operation, so be installed on the first rodding (oil circuit) that the compression zone with operation equipment 4A and control valve 5A couples together.Pressure transducer 20 is connected with car body controller 11, and the detected pressure value of hydraulic pressure signal is converted to electrical signal and outputs to car body controller 11.In addition, because proportional from the operation amount of the pressure of the hydraulic pressure signal of operation equipment 4A output and operation equipment 4A, so the operation amount of the operation equipment 4A in the time of can calculating the swing arm step-down operation according to the pressure of the detected hydraulic pressure signal of hydrostatic sensor 20.That is, the mechanism (operation amount feeler mechanism) detected as the operation amount to operation equipment 4A of the pressure transducer in the present embodiment 20 and performance function.In addition, other mechanisms as the operation amount to operation equipment 4A detects also can utilize the position transducer that the position of the operating stem among the operation equipment 4A is detected.
In addition, operation equipment 4B not only is connected with above-mentioned two first roddings on the compression zone that is connected to control valve 5C, also is connected with two other elder generation rodding.In addition, in this two other elder generation rodding, the first rodding that passes through at the hydraulic pressure signal that makes upper rotating body 1d to anticlockwise for driving revolution motor 16 is equipped with pressure transducer 17, at the first rodding that the dextrorotary hydraulic pressure signal of upper rotating body 1d (hydraulic oil) is passed through for driving revolution motor 16 pressure transducer 18 is installed.Pressure transducer 17,18 constitutes, as the pressure from the hydraulic pressure signal of operation equipment 4B output is detected and converts to the signal switching mechanism of the electrical signal corresponding with this pressure and brings into play function, the electrical signal after the conversion can be outputed to car body controller 11.The electrical signal that outputs to car body controller 11 from pressure transducer 17,18 is used as controlling via inverter 13 operation signal of the driving of revolution motor 16 (electric actuator).
The compression zone of control valve 5E, 5F is connected with mobility operation device (not shown) in being arranged on operator cabin via first rodding.Control valve 5E, 5F can come switching position according to the hydraulic pressure signal from this mobility operation device input, correspondingly the mobile of hydraulic oil that sprays from oil hydraulic pump 6 controlled with this switching position, thus the driving of control driving motors 3e, 3f.
Car body controller (MCU) 11 has following function: the flow that returns oil that returns oily flow and be diverted to the flow adjustment loop 54 from this cylinder bottom side hydraulic chamber 55 that the cylinder bottom side hydraulic chamber 55 among the slave arm oil hydraulic cylinder 3a is diverted in the regenerative circuit 53 calculates, and inverter 13 and control valve 5A are controlled so that the oil that returns of this flow of calculating flows in two loops 53,54.In addition, car body controller 11 is connected with inverter 13 and Proportional valve 27, and to inverter 13 and Proportional valve 27 output function signals.And car body controller 11 also is connected with pressure transducer 20, and the checkout value of incoming pressure sensor 20.
In addition, car body controller 11 has according to controlling the effect of the driving of revolution motor 16 via inverter 13 from the electrical signal of pressure transducer 17,18 inputs.Particularly, when from pressure transducer 17 input electrical signal, make upper rotating body 1d with the speed corresponding with this electrical signal to anticlockwise, when from pressure transducer 18 input electrical signal, make upper rotating body 1d with the speed corresponding with this electrical signal to right rotation.In addition, car body controller 11 also carries out reclaiming from revolution motor 16 the power regenerating control of electric energy when upper rotating body 1d rotation brake.And, also carry out the regenerated electric power that will when the control of this power regenerating, produce and the dump power of the electric power that produced by power conversion machine (generator motor) 10 (for example, the lighter situation of the load of oil hydraulic pump 6 etc.) charges to the control of battery 15.
Next, the flow that returns oil from cylinder bottom side hydraulic chamber 55 that has with reference to the car body controller 11 of description of drawings present embodiment is adjusted function.
Fig. 3 is the pie graph of the car body controller 11 of embodiments of the present invention.Car body controller 11 shown in this figure has: the memory section (storing mechanism) 105 that is made of ROM and RAM etc.; First flow operational part 101 and the second flow operational part 100 (flow arithmetical organ); Motor command value operational part 102; Proportional valve output value operational part 103.
The setting value (the first setting value L1 and the second setting value L2) of the operation amount of the operation equipment 4A of the operation the relationship between quantities of the operation equipment 4A of (in the situation that swing arm oil hydraulic cylinder 3a shortens) and the benchmark selected for the loop of returning oil flow as to the swing arm step-down operation time when in memory section 105, storing outlet throttling flow from cylinder bottom side hydraulic chamber 55 with respect to the swing arm step-down operation.Fig. 4 is the statistics line chart of storing in the memory section 105 of embodiments of the present invention.In the present embodiment, the operation amount of the operation equipment 4A during the swing arm step-down operation is with as shown in the drawing like that with the form storage of statistics line chart from the relation of the outlet throttling flow of cylinder bottom side hydraulic chamber 55.
In Fig. 4, the operation amount that the relation of the operation amount that the statistics line chart shown in the fine line shows operation equipment 4A and the flow that returns oil (flow is adjusted loop flow Q 1) of adjusting loop 54 side flow at flow, the statistics line chart shown in the dotted line show operation equipment 4A and relation at the flow (regenerative circuit flow Q2) that returns oil of regenerative circuit 53 side flow.In addition, the statistics line chart shown in the heavy line shows two synthetic previous statistics line charts of adding up line charts and obtaining, and shows the total flow that flow is adjusted loop flow Q 1 and regenerative circuit flow Q2.This statistics line chart is configured to and only flows to flow and adjust in the situation in loop 54 resulting statistics line chart (namely returning oil from cylinder bottom side hydraulic chamber 55 whole, do not have regenerative circuit 53, power source and only be the statistics line chart in the hydraulic shovel of motor (below, be called sometimes " common hydraulic shovel ")) identical.
Shown in these statistics line charts, the operation amount of operation equipment 4A less than the situation of the first setting value L1 (below, be called sometimes " micromanipulator zone ") under, add up to flow consistent with flow adjustment loop flow Q1.That is, at this moment, all flow to flow and adjust loop 54 from the oil that returns of cylinder bottom side hydraulic chamber 55, regenerative circuit 53 is closed because of one-way valve 28.Like this, in the present embodiment, constitute to make in the micromanipulator zone and return oil and only flow to flow and adjust the reason in loop 54 and be, owing in the micromanipulator (fretting performance) of micromanipulator Regional Gravity And apparent motion arm hydraulic cylinder 3a, be preferred so only carry out flow control by flow control than oil hydraulic motor 24 outstanding control valve 5A from the viewpoint of guaranteeing fretting performance.
In addition, under the operation amount of operation equipment 4A is situation (below, be called sometimes " full regeneration zone ") more than the second setting value L2 (greater than the value of the first setting value L1), add up to flow consistent with regenerative circuit flow Q2.That is, at this moment, all flow to regenerative circuit 53 from the oil that returns of cylinder bottom side hydraulic chamber 55, flow is adjusted loop 54 and is closed because of control valve 5A.Like this, in the present embodiment, constitute to make at full regeneration zone and return the reason that oil only flows to regenerative circuit 53 and be, owing to produce a large amount of oil that returns at the larger full regeneration zone of the operation amount of operation equipment 4A, to increase the regeneration amount be preferred from the viewpoint that improves fuel efficiency so utilize this to return oil.
On the other hand, be more than the first setting value L1 and in less than the situation of the second setting value L2 (below, be called sometimes " zone line ") at operation amount, return that oil flows to regenerative circuit 53 and flow is adjusted loop 54 both sides.Particularly, during the operation amount of operation equipment 4A is increased to the second setting value L2 from the first setting value L1, total flow q1 when flow is adjusted loop flow Q1 from the first setting value L1 reduces gradually to zero, and meanwhile regenerative circuit flow Q2 increases gradually from zero total flow q2 during to the second setting value L2.Like this, when flow adjustment loop flow Q1 being reduced gradually and regenerative circuit flow Q2 is increased gradually, can be from the micromanipulator zone to the reposefully transition of full regeneration zone.In addition, also can be from full regeneration zone to the reposefully transition of micromanipulator zone.In addition, as mentioned above, the flow of this moment is adjusted loop flow Q1 and is configured to identical with common hydraulic shovel with the total flow of regenerative circuit flow Q2.
Turn back to Fig. 3, first flow operational part 101 is adjusted the part that the flow Q1 that returns oil of loop 54 sides carries out computing for the operation amount of the operation equipment 4A when being stored in statistics line chart in the memory section 105 and swing arm step-down operation is by convection into flow, and the second flow operational part 100 is by convection into the part that the flow Q2 that returns oil of regenerative circuit 53 sides carries out computing for the operation amount of the operation equipment 4A when being stored in statistics line chart in the memory section 105 and swing arm step-down operation.
Input has the checkout value of pressure transducer 20 in first flow operational part 101 and the second flow operational part 100, and first flow operational part 101 and the second flow operational part 100 come the operation amount of calculating operation device 4A according to this checkout value.At this, the pressure of the hydraulic pressure signal when making the operation amount of operation equipment 4A reach the first setting value L1 is P1, and the pressure of the hydraulic pressure signal when making this operation amount reach the second setting value L2 is P2 (having put down in writing in the lump setting value L1, the L2 of operation amount and setting value P1, the P2 of pressure among Fig. 4).When calculating the operation amount of operation equipment 4A according to the checkout value of pressure transducer 20, calculate flow Q1, the Q2 corresponding with this operation amount of calculating according to the statistics line chart of memory section 105, and be set into each loop 53,54 target flow.First flow operational part 101 outputs to Proportional valve output value operational part 103, the second flow operational parts 100 with the flow adjustment loop flow Q1 that calculates the regenerative circuit flow Q2 that calculates is outputed to motor command value operational part 102.
Motor command value operational part 102 carries out computing, also will output to be used to the rotary speed instruction value that oil hydraulic motor 24 is rotated with this rotating speed that calculates the part of inverter 26 for the rotating speed that the oil hydraulic motor 24 by regenerative circuit 53 is sucked the needed oil hydraulic motor 24 of regenerative circuit flow Q2 that calculates at the second flow operational part 100.The inverter 26 of having inputted the rotary speed instruction value that calculates at motor command value operational part 102 makes oil hydraulic motor 24 and generator 25 rotations according to this rotary speed instruction value, makes thus the oil that returns of the flow that calculates at the second flow operational part 100 flow to regenerative circuit 53.
Proportional valve output value operational part 103 is following part: to make the flow that calculates at first flow operational part 101 adjust loop flow Q1 flow through flow adjust the output value of the needed Proportional valve 27 of control valve 5A in loop 54 (that is, outputing to the pressure (first pilot) of hydraulic pressure signal of the compression zone of control valve 5A from Proportional valve 27) carry out computing, and the command value that will be used for this output value that calculates is exported from Proportional valve 27 output to Proportional valve 27.The Proportional valve 27 of having inputted the output value that calculates at Proportional valve output value operational part 103 outputs to control valve 5A according to this output value with operation signal, makes thus the oil that returns of the flow that calculates at first flow operational part 101 flow to flow adjustment loop 54.
Turn back to Fig. 2, engine controller (ECU) 21 is following part: according to the engine speed input device of the rotating speed of target of inputting motor 7 from the person of being operated (for example, engine control dial (not shown)) etc. instruction controls to make motor 7 to be rotated with this rotating speed of target to fuel injection amount and engine speed.
Link dynamic interpreter (generator motor) 10 at the output shaft of motor (prime mover) 7, be connected with oil hydraulic pump 6 and pioneer pump 41 at the output shaft of power conversion machine 10.
Oil hydraulic pump 6 is the main pump of supplying with hydraulic oil to hydraulic actuator 3a, 3b, 3c, 3e, 3f, and pioneer pump 41 is supplied with the hydraulic oil that is output as operation signal via operation equipment 4A, 4B and mobility operation device to control valve 5A, 5B, 5C, 5D, 5E, 5F.In addition, be provided with relief valve 8 at the hydraulic pipe line that is connected with oil hydraulic pump 6, in the situation that the excessive pressure of relief valve 8 in this pipeline rises hydraulic oil be discharged in the fuel tank 9.
In the power regenerating device that consists of as described above, at first, in the situation of operation amount less than the first setting value L1 of operation equipment 4A when the swing arm step-down operation, because the detected pressures of pressure transducer 20 is less than P1, so be controlled in the micromanipulator zone of Fig. 4 from the outlet throttling flow of cylinder bottom side hydraulic chamber 55.Thus, at first, the second flow operational part 100 in the car body controller 11 outputs to motor command value operational part 102 with zero as regenerative circuit flow Q2 according to the statistics line chart of Fig. 4.In addition, first flow operational part 101 carries out computing according to the checkout value of pressure transducer 20 to the operation amount of operation equipment 4A, and according to the statistics line chart of this operation amount that calculates and Fig. 4 flow is adjusted loop flow Q1 and carry out computing.Then, the flow that this is calculated is adjusted loop flow Q1 and is outputed to Proportional valve output value operational part 103.
The rotary speed instruction value that motor command value operational part 102 will generate according to the operation result of the second flow operational part 100 outputs to inverter 26, and inverter 26 makes oil hydraulic motor 24 and generator 25 keep halted state according to this rotary speed instruction value.In addition, since the pressure of hydraulic pressure signal that outputs to one-way valve 28 from operation equipment 4A this moment less than P1, so one-way valve 28 keeps closed conditions.Therefore, irrelevant with the rotary speed instruction values of 26 outputs from motor command value operational part 102 to inverter, returning oil and can not flow to regenerative circuit 53 (oil hydraulic motor 24) from cylinder bottom side hydraulic chamber 55.
On the other hand, Proportional valve output value operational part 103 operation results according to first flow operational part 101 keep the command value of standard-sized sheet to output to Proportional valve 27 Proportional valve 27.Thus, directly act on the compression zone of control valve 5A from the hydraulic pressure signal of operation equipment 4A output, the guiding valve of control valve 5A moves.Thus, with common hydraulic shovel similarly, flow to flow and adjust loop 54 with the oil that returns of the corresponding flow of operation amount of operation equipment 4A.
Next, the operation amount of operation equipment 4A when the swing arm step-down operation is more than the first setting value L1 and in the situation less than the second setting value L2, because the detected pressures of pressure transducer 20 is more than the P1 and less than P2, so be controlled in the zone line of Fig. 4 from the outlet throttling flow of cylinder bottom side hydraulic chamber 55.Thus, first flow operational part 101 in the car body controller 11 and the second flow operational part 100 carry out computing according to the checkout value of pressure transducer 20 to the operation amount of operation equipment 4A, and according to the statistics line chart of this operation amount that calculates and Fig. 4 regenerative circuit flow Q2 and flow are adjusted loop flow Q1 and carry out computing.Then, first flow operational part 101 outputs to Proportional valve output value operational part 103, the second flow operational parts 100 with this flow adjustment loop flow Q1 that calculates the regenerative circuit flow Q2 that this calculates is outputed to motor command value operational part 102.
The rotary speed instruction value that motor command value operational part 102 will generate according to the operation result of the second flow operational part 100 outputs to inverter 26, and inverter 26 is controlled the rotating speed of oil hydraulic motor 24 and generator 25 according to this rotary speed instruction value.In addition, because be P1 more than from the pressure that operation equipment 4A outputs to the hydraulic pressure signal of one-way valve 28 this moment, so one-way valve 28 is held open state, cylinder bottom side hydraulic chamber 55 is connected state with regenerative circuit 53.Thus, the oil that returns that remains regenerative circuit flow Q2 flow into the regenerative circuit 53 from cylinder bottom side hydraulic chamber 55, and the rotating speed that oil hydraulic motor 24 is calculated with motor command value operational part 102 is rotated and produces regenerated electric power.
On the other hand, the command value that Proportional valve output value operational part 103 will generate according to the operation result of first flow operational part 101 outputs to Proportional valve 27, and the hydraulic pressure signal that Proportional valve 27 will be reduced to the output value (pressure) that calculates at Proportional valve output value operational part 103 outputs to the compression zone of control valve 5A.Thus, the guiding valve of control valve 5A is suitably mobile, and the oil that returns that remains flow adjustment loop flow Q1 flows to flow adjustment loop 54.
And, the operation amount of operation equipment 4A when the swing arm step-down operation is in the situation more than the second setting value L2, because the detected pressures of pressure transducer 20 is more than the P2, so be controlled in the full regeneration zone of Fig. 4 from the outlet throttling flow of cylinder bottom side hydraulic chamber 55.Thus, the second flow operational part 100 in the car body controller 11 carries out computing according to the checkout value of pressure transducer 20 to the operation amount of operation equipment 4A, and according to the statistics line chart of this operation amount that calculates and Fig. 4 regenerative circuit flow Q2 is carried out computing.Then, the regenerative circuit flow Q2 that this is calculated outputs to motor command value operational part 102.In addition, first flow operational part 101 is adjusted loop flow Q 1 with zero as flow according to the statistics line chart of Fig. 4 and is outputed to Proportional valve output value operational part 103.
The rotary speed instruction value that motor command value operational part 102 will generate according to the operation result of the second flow operational part 100 outputs to inverter 26, and inverter 26 is controlled the rotating speed of oil hydraulic motor 24 and generator 25 according to this rotary speed instruction value.In addition, also be more than the P1 owing to output to the pressure of the hydraulic pressure signal of one-way valve 28 this moment from operation equipment 4A, so cylinder bottom side hydraulic chamber 55 is connected state with regenerative circuit 53.Thus, all flow in the regenerative circuit 53 from the oil that returns of cylinder bottom side hydraulic chamber 55, the rotating speed that oil hydraulic motor 24 is calculated with motor command value operational part 102 is rotated and produces regenerated electric power.
On the other hand, Proportional valve output value operational part 103 operation results according to first flow operational part 101 keep the command value of full cut-off to output to Proportional valve 27 Proportional valve 27.Thus, the hydraulic pressure signal of exporting from operation equipment 4A is cut off, and the guiding valve of control valve 5A remains on the neutral position.Thus, the hydraulic oil from cylinder bottom side hydraulic chamber 55 can not pass through control valve 5A.
Power regenerating device according to the present embodiment that consists of as described above, when the swing arm step-down operation, owing to always controlled according to statistics line chart shown in Figure 4 from the total flow (outlet throttling flow) that returns oil that cylinder bottom side hydraulic chamber 55 is discharged, so can keep well operator's operation sense.At this moment, as long as make the employed statistics line image of the flow control present embodiment of returning oil like that identical with common hydraulic shovel, just can with return oil and have or not regeneration irrespectively to keep well operator's operation sense.
And, in the present embodiment, on the basis that utilizes the statistics line chart identical with common hydraulic shovel, correspondingly change the oily flow that returns for the loop of returning oil flow and each loop with the size of the operation amount of operation equipment 4A.When like this loop and flow suitably being changed, can be arbitrarily and easily set (1) and return oil and mainly flow to flow and adjust the raising of the micromanipulator that realizes in loop 54, return the balance that oil mainly flows to the fuel efficiency raising that regenerative circuit 53 realizes with (2) by making by making.
About this point, in the above-described embodiment, make in the micromanipulator zone and to return oil and only flow to flow and adjust loop 54, make at full regeneration zone and return oil and only flow to regenerative circuit 53.When like this according to the operation amount of operation equipment 4A when suitably changing for the loop of returning oil flow, can guarantee fretting performance in the micromanipulator zone of paying attention to micromanipulator, and, can improve fuel efficiency performance by full regeneration zone more at the flow that returns oil and expectation increase regeneration amount.In addition, in the present embodiment, at the zone line between micromanipulator zone and the full regeneration zone, with the increase of the operation amount of operation equipment 4A flow adjustment loop flow Q1 is reduced gradually, regenerative circuit flow Q2 is increased gradually.When control like this zone line place return the flow of oil the time, the micromanipulator zone of paying attention to micromanipulator is carried out reposefully with the transition of the full regeneration zone of paying attention to fuel efficiency performance.
In the above-described embodiment, utilize regularly the operation amount (the first setting value L1 and the second setting value L2) of the operation equipment 4A of the benchmark of selecting as the loop of returning oil flow to for the swing arm step-down operation time, but also can change this operation amount (the first setting value L1 and the second setting value L2) by the operator.
Fig. 5 is the statistics line chart when in embodiments of the present invention the first setting value L1 and the second setting value L2 being changed to new setting value L1 ', L2 '.As shown in the drawing, new setting value L1 ', L2 ' be equivalent to the first setting value L1 and the second setting value L2 are added deviation delta L1, Δ L2 and the value that obtains, adds that statistics line chart behind this deviation delta L1, the Δ L2 compares the micromanipulator zone and expand large and complete regeneration zone and dwindle with statistics line chart shown in Figure 4.
The adjustment of the amount of the deviation delta L1 in the present embodiment, Δ L2 is undertaken by setting value change device (setting value change mechanism) 29 (with reference to the Fig. 2) that are connected with car body controller 11.Setting value change device 29 in the present embodiment is illustrated in figure 2 as the scale disc type, according to the rotating amount of dial the first setting value and the second setting value is added the upper deviation (Δ L1 and Δ L2).The operation amount that the operation amount that the micromanipulator zone can be finished thus, and full regeneration zone begin suitably is altered to the desired value of operator.Concrete variation as setting value, there is following method: for example, in the situation that makes dial from the reference position to right-hand rotation, to add with the resulting value of the proportional deviation of this rotating amount as new setting value the first setting value L1 and the second setting value L2, on the other hand, in the situation that dial is rotated from this reference position to left, will from the first setting value L1 and the second setting value L2, deduct with the resulting value of the proportional deviation of this rotating amount as new setting value.
If can change like this first setting value L1 and the second setting value L2, then can easily change according to operator's hobby and job content the operation amount that the operation amount that finishes in the micromanipulator zone and full regeneration zone begin, therefore, can obtain the balance of the desired micromanipulator of operator and regeneration of energy.
In addition, at this, the setting value change device 29 that operates to change the first setting value L1 and the second setting value L2 both sides by dial is illustrated, but also can utilize other setting value change devices that at least one party among the first setting value L1 and the second setting value L2 can be changed to other values, can also utilize the device that can change separately the first setting value L1 and the second setting value L2.
In addition, in above-mentioned, the rotating amount of adjusting setting value change device 29 suitably change the first setting value L1 and the second setting value L2 and changes thus that micromanipulator is regional to be illustrated with the full situation of regeneration zone, but also can constitute, according to operator's indication each setting value L1, L2 be switched to other setting values (L1 ', L2 ') and can change thus micromanipulator zone and full regeneration zone.Concrete configuration example as the power regenerating device of this situation, there is following structure: with the first setting value L1, replace the first generation of the first setting value L1 for setting value L1 ', the second setting value L2, and replace the second generation of the second setting value L2 pre-stored in the memory section 105 of car body controller 11 for setting value L2 ', according to the switching position (ON/OFF) of the setting value COMM communication 30 (with reference to Fig. 2) that is connected with car body controller 11 on the operating stem that is installed in operation equipment 4A, can make the flow Q1 that returns oil in calculating, employed setting value is at setting value LI during Q2, L2 and replacement setting value L1 ', switch between the L2 '.
When consisting of like this power regenerating device, for example, can in key operation, utilize setting value L1, L2 to carry out operation, in the operations specific of temporarily carrying out, utilizing replacement setting value L1 ', L2 ' to carry out operation during this key operation, in the situation of carrying out continuously this key operation and this operations specific, only just can be altered to micromanipulator zone and the full regeneration zone of fitting mutually with each operation by the switching position of switching setting value COMM communication 30, therefore can improve operating efficiency.
In addition, at this, replace the situation of setting value L1 ', L2 ' to be illustrated to two setting value L1, L2 are switched to respectively, but also can only the side among two setting value L1, the L2 be switched to the replacement setting value.And, also can constitute, usually control according to statistics line chart shown in Figure 4, in the situation that makes 30 actions of setting value COMM communication, temporarily switch to make and return oil does not flow to regenerative circuit 53 and only flows to flow adjustment loop 54 in the Zone Full scope of the operation amount of operation equipment 4A control.
In addition, the invention is not restricted to above-mentioned mode of execution, can carry out various changes.For example, in the respective embodiments described above, power conversion machine 10 and motor 7 are linked, this power conversion machine 10 constitutes, performance is as the power-converting of motor 7 being become electric energy and to the function of the generator of inverter 12, the output electric energy such as 13, and performance comes the function of the motor of auxiliary drive oil hydraulic pump 6 as a part of utilizing this electric energy, but also can omit this power conversion machine 10 and oil hydraulic pump 6 directly is attached on the motor 7.Similarly, possess motor 16 as the driving source of upper rotating body 1d, but also can replace motor 16 with oil hydraulic motor.
Description of reference numerals
Claims (5)
1. the power regenerating device of a Work machine has: the operation equipment (4A) of output and the corresponding operation signal of operation amount; The oil hydraulic cylinder (3a) that stretches according to the operation signal from the output of described operation equipment; That launched machine (7) drives, supply with the oil hydraulic pump (6) of hydraulic oil to described oil hydraulic cylinder, it is characterized in that having:
Regenerative circuit (53), it is connected with the cylinder bottom side hydraulic chamber (55) of described oil hydraulic cylinder, and via being used for and will becoming the regeneration sector (24,25) of electric energy that the described oil that returns is directed to fuel tank from the transformation of energy of returning oil of described hydraulic chamber;
Flow is adjusted loop (54), and it is connected with described hydraulic chamber, and will be directed to fuel tank via flow rate adjusting mechanism (5A) from the oil that returns of described hydraulic chamber;
Feeler mechanism (19,20), it is for detection of the operation amount of described operation equipment;
First flow control mechanism (26), it is according to first flow setting flow and by described feeler mechanism detected operation amount controlled described regenerative circuit definite according to the operation amount of described operation equipment; With
The second flow control mechanism (5A, 27), it is according to second flow setting flow and by described feeler mechanism detected operation amount controlled described flow adjustment loop definite according to the operation amount of described operation equipment.
2. the power regenerating device of Work machine as claimed in claim 1 is characterized in that,
The described first aggregate value of setting flow and described the second setting flow increases along with the increase of the operation amount of described operation equipment.
3. the power regenerating device of Work machine as claimed in claim 2 is characterized in that,
Described first sets flow is configured to, and remains zero at the operation amount of described operation equipment during less than the first setting value, the operation amount of described operation equipment be described the first setting value when above increase along with the operation amount of described operation equipment increase,
Described second sets flow is configured to, the operation amount of described operation equipment during less than described the first setting value along with the increase of the operation amount of described operation equipment and increase, being that the increase along with the operation amount of described operation equipment reduces more than described the first setting value and in less than the second setting value situation at the operation amount of described operation equipment, is that described the second setting value remains zero when above at the operation amount of described operation equipment.
4. the power regenerating device of Work machine as claimed in claim 3 is characterized in that,
Also has the setting value change mechanism (29) that at least one party in described the first setting value and described the second setting value is changed to other values.
5. the power regenerating device of Work machine as claimed in claim 3 is characterized in that,
Also has the setting value switching mechanism (30) that at least one party in described the first setting value and described the second setting value is switched to other values.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011-022039 | 2011-02-03 | ||
| JP2011022039 | 2011-02-03 | ||
| PCT/JP2012/051255 WO2012105345A1 (en) | 2011-02-03 | 2012-01-20 | Power regeneration device for work machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102971542A true CN102971542A (en) | 2013-03-13 |
| CN102971542B CN102971542B (en) | 2015-11-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280001836.2A Active CN102971542B (en) | 2011-02-03 | 2012-01-20 | The power regeneration device of Work machine |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US8659177B2 (en) |
| EP (1) | EP2672127A4 (en) |
| JP (1) | JP5681732B2 (en) |
| KR (1) | KR101948322B1 (en) |
| CN (1) | CN102971542B (en) |
| WO (1) | WO2012105345A1 (en) |
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| CN104179738A (en) * | 2014-08-07 | 2014-12-03 | 龙工（上海）精工液压有限公司 | Open hydraulic system for glide loading machine |
| CN104179756A (en) * | 2013-05-20 | 2014-12-03 | 住友重机械工业株式会社 | Regeneration circuit for hydraulic motor, construction machine including regeneration circuit, and method of controlling regeneration circuit of hydraulic motor |
| CN105745380A (en) * | 2013-11-12 | 2016-07-06 | 克拉克设备公司 | Hydraulic brake |
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| EP2799727B1 (en) * | 2011-12-28 | 2018-05-30 | Hitachi Construction Machinery Co., Ltd. | Power regeneration device for work machine and work machine |
| JP6019956B2 (en) * | 2012-09-06 | 2016-11-02 | コベルコ建機株式会社 | Power control device for hybrid construction machinery |
| EP3006745B1 (en) | 2013-05-24 | 2018-10-24 | Hitachi Construction Machinery Co., Ltd. | Construction machine |
| JP6197527B2 (en) * | 2013-09-24 | 2017-09-20 | コベルコ建機株式会社 | Hybrid construction machinery |
| JP6155159B2 (en) * | 2013-10-11 | 2017-06-28 | Ｋｙｂ株式会社 | Hybrid construction machine control system |
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| JP6072310B2 (en) * | 2014-01-28 | 2017-02-01 | 日立建機株式会社 | Pressure oil energy recovery device for work machines |
| JP6005082B2 (en) * | 2014-02-04 | 2016-10-12 | 日立建機株式会社 | Construction machinery |
| US9890804B2 (en) * | 2014-03-24 | 2018-02-13 | Doosan Infracore Co., Ltd. | Engine system utilizing hydraulic pressure |
| KR101847760B1 (en) * | 2014-04-03 | 2018-04-10 | 히다찌 겐끼 가부시키가이샤 | Construction machine |
| WO2017056200A1 (en) * | 2015-09-29 | 2017-04-06 | 日立建機株式会社 | Pressure oil energy regeneration device of work machine |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2012105345A1 (en) | 2012-08-09 |
| EP2672127A4 (en) | 2016-06-08 |
| JP5681732B2 (en) | 2015-03-11 |
| CN102971542B (en) | 2015-11-25 |
| KR20130143481A (en) | 2013-12-31 |
| EP2672127A1 (en) | 2013-12-11 |
| US20130300128A1 (en) | 2013-11-14 |
| KR101948322B1 (en) | 2019-02-14 |
| JPWO2012105345A1 (en) | 2014-07-03 |
| US8659177B2 (en) | 2014-02-25 |
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